A flexible Split & Prune search forRefinement Planning

Refineplan( P : Plan)

0*. If «P » is empty, Fail.

1. If a minimal candidate of P

is a solution, terminate.

2. Select a refinement strategy R .

Appply R to P to get a new plan set P’

3. Split P’ into k plansets

4. Non-deterministically select one of the plansets P’ i

Call Refine(P’ i)

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